Struct Config::Localization

Nested Relationships

This struct is a nested type of Struct Config.

Nested Types

Struct Documentation

struct Localization

Localization module settings.

Public Members

struct slam_mer::settings::Config::Localization::Frame _frame
struct slam_mer::settings::Config::Localization::PointsQuery _pointsQuery
struct slam_mer::settings::Config::Localization::PoseEstimation _pose_estimation
struct slam_mer::settings::Config::Localization::KeyframeCreation _keyframe_creation
struct slam_mer::settings::Config::Localization::Relocalization _relocalization
struct Frame

Input-frame quality constraints.

Public Members

int _minimumFeatures

Minimum features required in the frame.

double _minimumDepth

Minimum accepted depth value.

double _maximumDepth

Maximum accepted depth value.

struct KeyframeCreation

Keyframe-creation policy settings.

Public Members

int _framesInBetweenKeyframes

Minimum frames between keyframes.

bool _checkMinimumTrackedPoints

Enables tracked-point check.

int _minimumTrackedPoints

Minimum tracked points threshold.

bool _checkImageCoverage

Enables image-coverage check.

double _imageCoverageThreshold

Minimum image coverage ratio.

int _imageCoverageGridRows

Coverage grid row count.

int _imageCoverageGridCols

Coverage grid column count.

int _imageCoverageMinPointsPerGrid

Min points per grid cell.

int _imageCoverageMinGridsFilled

Min valid grid cells.

bool _checkKlDivergence

Enables KL-divergence check.

double _klDivergenceThreshold

Maximum KL divergence.

struct PointsQuery

Point-query cache and spatial lookup settings.

Public Members

int _temporalBufferSize

Number of previous frames to keep.

int _spatialQueryCells

Number of cells used for spatial queries.

struct PoseEstimation

Camera-pose estimation settings.

Public Members

int _minimumMatches

Minimum 2D-3D matches required.

int _focalLengthMaximumEstimates

Iterations for focal estimation.

double _minimumInlierRatio

Minimum accepted inlier ratio.

int _minimumInliers

Minimum accepted inlier count.

double _poseLimitsRotation

Maximum rotation delta.

double _poseLimitsTranslation

Maximum translation delta.

struct slam_mer::settings::Config::Localization::PoseEstimation::Ransac _ransac
struct slam_mer::settings::Config::Localization::PoseEstimation::Bundle _bundle
struct Bundle

Local bundle-adjustment settings.

Public Members

int _maxIterations

Maximum optimization iterations.

struct Ransac

RANSAC settings for PnP.

Public Members

int _maxIterations

Maximum RANSAC iterations.

int _minIterations

Minimum RANSAC iterations.

double _dynNumTrialsMult

Multiplier for dynamic trial count.

double _successProb

Target RANSAC success probability.

struct Relocalization

Relocalization settings.